Xuchen Han
d7442cee21
add strain rate limiting
2019-12-31 14:04:18 -08:00
Xuchen Han
f65a8b03c0
separate deformable contact solve by islands WIP
2019-12-17 18:27:23 -08:00
Erwin Coumans
1f6d504e44
fix memory issues in btSparseSDF.h
...
(hash function on structure with uninitialized padding, and Reset not called in destructor)
expose sparseSdfVoxelSize in PyBullet.setPhysicsEngineParameter
don't call deformable wireframe drawing in the wrong thread/place (it can cause crashes)
2019-11-18 10:22:56 -08:00
Erwin Coumans
9ca957387f
Deformables: enable double sided rendering, reduced the number of debug lines in regular rendering.
2019-11-12 20:08:49 -08:00
Xuchen Han
362bc6d9a3
fix the bug that prevents the pd control forces/torques being added
2019-11-08 17:08:59 -08:00
Xuchen Han
13314360a8
add option for deformable rigid split impulse
2019-11-05 18:07:58 -08:00
Erwin Coumans
136607151e
use mult instead of max to combine friction properties
...
use 0.5 friction for ground for a demo, and also a larger grid size
update description of deformable algorithm
disable SVD for now, has some issue with some compilers
2019-10-28 12:53:59 -07:00
Xuchen Han
36f7441790
support anchor constraint between deformable and multibody
2019-10-17 16:45:28 -07:00
Xuchen Han
60dfe1fe69
add support for anchor constraint between deformable and rigid
2019-10-16 19:23:01 -07:00
Xuchen Han
3d622a3bee
enable deformable sleeping
2019-10-16 12:00:02 -07:00
Xuchen Han
774937bcd6
add option to turn face contact on/off
2019-10-15 13:53:27 -07:00
Xuchen Han
ca92cf067e
fix removeCollisionObject for Deformable world
2019-10-15 13:50:12 -07:00
Xuchen Han
cb46440e17
add normal cone optimization for self-collision
2019-09-28 14:44:41 -07:00
Xuchen Han
416e516735
add naive implementation of self collision
2019-09-28 14:44:41 -07:00
Xuchen Han
2f9184acc9
remove position correction
2019-09-28 14:44:41 -07:00
Xuchen Han
ef5aa6e73b
add options to toggle between whether line search is used & add more documentation
2019-09-28 14:44:41 -07:00
Xuchen Han
d761b2cd68
add some documentation
2019-09-28 14:44:41 -07:00
Xuchen Han
ae42cc561e
add damping energy in line search
2019-09-28 14:44:41 -07:00
Xuchen Han
403eb62dfa
code clean up and optimization
2019-09-28 14:44:41 -07:00
Xuchen Han
f99cf56149
finished refactoring; start adding face contact
2019-09-28 14:44:41 -07:00
Xuchen Han
36278edc00
add back preTickCallback & disable position Correction for more stability
2019-09-28 14:43:40 -07:00
Xuchen Han
7d1b93cc17
contact solve for newton
2019-09-04 18:48:00 -07:00
Xuchen Han
d4a15e016e
add newton solver
2019-09-04 18:48:00 -07:00
Xuchen Han
e73f70efa2
swap m_x and m_q in softbody to align with rendering convention
2019-09-04 18:48:00 -07:00
Xuchen Han
6beeac7065
refactor contact solve
2019-08-23 17:32:41 -07:00
Xuchen Han
ccd8c3a47c
fix scope override in btMultiBody and scalar type inconsistency in btDeformableBodySolver
2019-08-22 10:12:14 -07:00
Xuchen Han
4e1c1a30a7
remove world dependency from btDeformableBodySolver,btDeformableBackwardEulerObjective, and btCGProjection; reduce invasion into multibody world, all chnages are cosmetic now
2019-08-21 22:17:46 -07:00
Xuchen Han
3bf3b66fb7
add method to remove softbody
2019-08-19 19:18:02 -07:00
Xuchen Han
04595961cd
add velocity clamp to prevent deformable objects from going too fast
2019-08-19 12:02:57 -07:00
Xuchen Han
bf215a3ce1
rename btDeformableRigidDynamicsWorld to btDeformableMultiBodyDynamicsWorld
2019-08-16 13:45:30 -07:00
